Aed Unit3
Aed Unit3
Aed Unit3
Electrical Drives
They operate by varying the frequency of the AC voltage supplied to the motor
using solid state electronic devices.
Modern electric drives
ADVANTAGES OF ELECTRICAL DRIVES:
Motors obtain power from electrical sources. They convert energy from
electrical to mechanical therefore can be regarded as energy converters.
In braking mode, the flow of power is reversed
There are several types of motors used in electric drives choice of type
used depends on applications, cost, environmental factors and also the
type of sources available.
AC motors:
Induction motors squirrel cage, wound rotor
Synchronous motors wound field, permanent magnet
Brushless DC motor require power electronic converters
Stepper motors require power electronic converters
Power processor or power modulator:
Motors:
1. DC require maintenance, heavy, expensive, speed limited by
mechanical construction
The transient states or the dynamics of the machine can only be controlled by
applying the vector control technique whereby the decoupling between the
torque and flux components is achieved through frame transformations.
Classification of IM drives (Buja, Kamierkowski, Direct torque control of PWM inverter-fed AC motors - a survey,
IEEE Transactions on Industrial Electronics, 2004.
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
x Newtons law
Fm dMv
M Fm Ff
Ff dt
dv d2 x
Fm Ff M M 2 Ma
dt dt
Rotational motion
With constant J,
dm d 2
Te Tl J J 2
dt dt
dm Angular acceleration
dt
100
speed (rad/s)
-100
-200
0.19 0.2 0.21 0.22 0.23 0.24 0.25
20
15
torque (Nm)
10
0
0.19 0.2 0.21 0.22 0.23 0.24 0.25
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
dm
Te Tl J
dt
dm dm
m Te m Tl m J pD pL m J
dt dt
Driving
power
Change
Load in KE
power
dm
Te Tl J
dt
dm dm
m Te m Tl m J pD pL m J
dt dt
Integrating the equation with time and setting the initial speed (0) =
0, we obtain the following:
t t t
dw m
wD = pD d t = pL d t + wm J dt
dt
0 0 0
w
wD = wL + J w m dw m
0
1
wD = wL + Jw m2
2
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Fl Fe
Te,
r M r
Tl
v
dv
Fe Fl M Te = r(Fe), Tl = r(Fl), v =r
dt
d
Te Tl r 2M
dt
Motors designed for high speed are smaller in size and volume
m m1
Motor Load 1, n1
Te Tl1
J2
m2
n2 Load 2,
J1 Tl2
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
m m1
Motor Load 1, n1
Te Tl1
J2
m2
n2 Load 2,
J1
Tl2
m
J equ J1 a 22 J 2
Motor Equivalent
Te Load , Tlequ
Tlequ = Tl1 + a2Tl2
Jequ
a2 = n1/n2=2/1
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Quadrant of operation is
1
T -ve
2
T +ve
+ve +ve defined by the speed and
Pm -ve Pm +ve torque of the motor
Most rotating electrical
machines can operate in 4
T quadrants
Not all converters can
3 4 operate in 4 quadrants
T -ve T +ve
-ve -ve
Pm +ve Pm -ve
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
m Te
m
Te Quadrant of operation is
defined by the speed and
torque of the motor
Quadrant 2 Quadrant 1 Most rotating electrical
Forward braking Forward motoring machines can operate in 4
Te T quadrants
Te Not all converters can
m operate in 4 quadrants
m
Quadrant 3 Quadrant 4
Reverse motoring Reverse braking
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Synchronous mch
Induction mch
Series DC
TORQUE
TORQUE
Coulomb friction
Viscous friction
Te
TORQUE
TL
gM
FL
TL = rFL = r g M sin
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Speed
Torque
Gravitational torque
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Torque Te Tl
Steady state
speed
r3 r1r r2 Speed
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
10 25 45 60 t (ms)
speed
(rad/s)
d
100
Te J B Tl
dt
10 25 45 60 t (ms)
10 25 45 60 t (ms)
Torque
(Nm)
72.67
torque profile
71.67
6
5
10 25 45 60 t (ms)
-60.67
-61.67
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
10 25 45 60 t (ms)
-65
For the same system and with the motor torque profile
given above, what would be the speed profile?
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Torque
Continuous
torque limit Power limit for
continuous torque
Maximum
speed limit
Speed
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Thermal considerations
Thermal considerations
Ambient temperature, To
p1 p2
Thermal capacity, C (Ws/oC)
Surface A, (m2) Emitted heat power
Input heat power Surface temperature, T (oC)
(losses) (convection)
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Thermal considerations
Power balance:
dT
C p1 p 2
dt
Which gives:
dT A p
T 1
dt C C
T
ph
A
1 e t / , where
C
A
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Thermal considerations
ph
T A T
ph
A
1 e t /
Heating transient
t
T
T T(0) e t /
T ( 0)
Cooling transient
t
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Thermal considerations
Continuous duty
Load torque is constant over extended
Continuous duty period multiple
Short time intermittent duty
Steady state temperature reached
Periodic intermittent duty
Nominal output power chosen equals or exceeds continuous load
p1n
Losses due to continuous load
T A
p1n
t
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Thermal considerations
Thermal considerations
Short time intermittent duty p1s
p1
p1n
T p 1s
A
p1n
A
Tmax
t
t1
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Thermal considerations
Short time intermittent duty
pp11nn p1ps 1s1 1eet1 / t1 /
T A A
p1s 1
t1 /
p1n 1 e t1
T
p1s
A
1 e t /
p1n
A
Tmax
t
t1
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Thermal considerations
Thermal considerations
p1
heating coolling
heating coolling
heating coolling
t
INTRODUCTION TO ELECTRIC DRIVES - MODULE 1
Thermal considerations
1 p1 9000
p1 pn 1 9kW Also, A 180 W / o C
T 50
Thermal considerations
For a duty cycle of 30% (period of 20 mins), heat losses of twice the nominal,
35
30
25
20
15
10
0
0 0.5 1 1.5 2 2.5
4
x 10